Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States
This work presents a method to find the optimal configuration of a leg-based stair-climbing wheelchair. This optimization begins with the definition of a high-level control architecture, in which the kinematics restrictions related to the specific obstacles are considered. Then, the reference trajec...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/10/289 |
| _version_ | 1827652580284563456 |
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| author | Diego Delgado-Mena Emiliano Pereira Cristina Alén-Cordero Saturnino Maldonado-Bascón Pedro Gil-Jiménez |
| author_facet | Diego Delgado-Mena Emiliano Pereira Cristina Alén-Cordero Saturnino Maldonado-Bascón Pedro Gil-Jiménez |
| author_sort | Diego Delgado-Mena |
| collection | DOAJ |
| description | This work presents a method to find the optimal configuration of a leg-based stair-climbing wheelchair. This optimization begins with the definition of a high-level control architecture, in which the kinematics restrictions related to the specific obstacles are considered. Then, the reference trajectories for all the actuators are generated as a function of the physical parameters of the mechanism, the dynamic restrictions of the actuators (velocity and acceleration) and the sensor errors. This work illustrates, based on a set of configurations, how the total time to climb up and climb down a defined stair depends on all these parameters, also reporting the best set of parameters that reduces the time and makes the mechanism more stable for a given scenario. The optimization in this work is performed with a brute-force search within a grid of parameters with a resolution of 1 mm. Thus, as the local minima is located, the complexity of the problem is revealed. |
| first_indexed | 2024-03-09T20:57:22Z |
| format | Article |
| id | doaj.art-5b6e4311de494642ae79867b93b5ca4b |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T20:57:22Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-5b6e4311de494642ae79867b93b5ca4b2023-11-23T22:17:33ZengMDPI AGActuators2076-08252022-10-01111028910.3390/act11100289Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing StatesDiego Delgado-Mena0Emiliano Pereira1Cristina Alén-Cordero2Saturnino Maldonado-Bascón3Pedro Gil-Jiménez4Department of Signal Processing and Communications, Universidad de Alcalá, 28001 Madrid, SpainDepartment of Signal Processing and Communications, Universidad de Alcalá, 28001 Madrid, SpainDepartment of Signal Processing and Communications, Universidad de Alcalá, 28001 Madrid, SpainDepartment of Signal Processing and Communications, Universidad de Alcalá, 28001 Madrid, SpainDepartment of Signal Processing and Communications, Universidad de Alcalá, 28001 Madrid, SpainThis work presents a method to find the optimal configuration of a leg-based stair-climbing wheelchair. This optimization begins with the definition of a high-level control architecture, in which the kinematics restrictions related to the specific obstacles are considered. Then, the reference trajectories for all the actuators are generated as a function of the physical parameters of the mechanism, the dynamic restrictions of the actuators (velocity and acceleration) and the sensor errors. This work illustrates, based on a set of configurations, how the total time to climb up and climb down a defined stair depends on all these parameters, also reporting the best set of parameters that reduces the time and makes the mechanism more stable for a given scenario. The optimization in this work is performed with a brute-force search within a grid of parameters with a resolution of 1 mm. Thus, as the local minima is located, the complexity of the problem is revealed.https://www.mdpi.com/2076-0825/11/10/289motion planningmobile robotsactuator dynamics and control |
| spellingShingle | Diego Delgado-Mena Emiliano Pereira Cristina Alén-Cordero Saturnino Maldonado-Bascón Pedro Gil-Jiménez Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States Actuators motion planning mobile robots actuator dynamics and control |
| title | Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States |
| title_full | Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States |
| title_fullStr | Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States |
| title_full_unstemmed | Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States |
| title_short | Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States |
| title_sort | optimal design of a novel leg based stair climbing wheelchair based on the kinematic analysis of the stair climbing states |
| topic | motion planning mobile robots actuator dynamics and control |
| url | https://www.mdpi.com/2076-0825/11/10/289 |
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